Development and control of an electro-hydraulic actuator system for an exoskeleton robot

Dongyoung Lee, Buchun Song, Sang Yong Park, Yoon Su Baek

Research output: Contribution to journalArticlepeer-review

17 Citations (Scopus)


Exoskeleton robots have been developed in various fields and are divided into electric and hydraulic exoskeletons according to the actuator type. In the case of hydraulic robots, because a unidirectional pump is applied, there are limitations to the wearer's walking. In addition, robot systems are complicated, because a directional control valve is required to change the direction of the actuator. To solve these problems, we designed the electro-hydraulic actuator (EHA) system which has both the hydraulic and electric advantages. The EHA system consists of a hydraulic bidirectional pump, a motor, a hydraulic cylinder, and various valves. For the development of the piston pump, we analyzed the gait cycle and considered the flow rate and pulsation rate. In order to reduce the size and weight of the EHA system, the valves were made from one manifold, and the hydraulic circuit was simplified. We verified that the developed EHA system is applicable to robots through position and force control experiments. Because the hydraulic system is nonlinear, we designed a sliding mode control (SMC) and compared it with the proportional integral derivative (PID) controller.

Original languageEnglish
Article number4295
JournalApplied Sciences (Switzerland)
Issue number20
Publication statusPublished - 2019 Oct 1

Bibliographical note

Publisher Copyright:
© 2019 by the authors.

All Science Journal Classification (ASJC) codes

  • General Materials Science
  • Instrumentation
  • General Engineering
  • Process Chemistry and Technology
  • Computer Science Applications
  • Fluid Flow and Transfer Processes


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